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add mag3110 magnetometer driver

dev/timer
Johann Fischer 8 years ago
parent
commit
a51c91e5be
  1. 3
      drivers/Makefile.include
  2. 193
      drivers/include/mag3110.h
  3. 1
      drivers/mag3110/Makefile
  4. 80
      drivers/mag3110/include/mag3110_reg.h
  5. 190
      drivers/mag3110/mag3110.c

3
drivers/Makefile.include

@ -34,3 +34,6 @@ endif
ifneq (,$(filter mma8652,$(USEMODULE)))
USEMODULE_INCLUDES += $(RIOTBASE)/drivers/mma8652/include
endif
ifneq (,$(filter mag3110,$(USEMODULE)))
USEMODULE_INCLUDES += $(RIOTBASE)/drivers/mag3110/include
endif

193
drivers/include/mag3110.h

@ -0,0 +1,193 @@
/*
* Copyright (C) 2014 PHYTEC Messtechnik GmbH
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*/
/**
* @defgroup drivers_mag3110 MAG3110 3-Axis Digital Magnetometer
* @ingroup drivers
* @brief Driver for the Freescale MAG3110 magnetometer.
* After initialization and set activ the magnetometer
* will make measurements at periodic times.
* The output rate and over sample ratio
* can be determined by magnetometer initialization.
* The measured values of magnetic field strength and
* die temperature have uncalibrated offsets.
* To get correct measuremend values, the individual
* offsets must be measured and set accordingly.
*
* @{
*
* @file
* @brief Interface definition for the MAG3110 magnetometer driver.
*
* @author Johann Fischer <j.fischer@phytec.de>
*/
#ifndef MAG3110_H
#define MAG3110_H
#include <stdint.h>
#include <stdbool.h>
#include "periph/i2c.h"
#ifdef __cplusplus
extern "C"
{
#endif
#ifndef MAG3110_I2C_ADDRESS
#define MAG3110_I2C_ADDRESS 0x0E /**< Magnetometer Default Address */
#endif
#define MAG3110_DROS_8000_16 0 /**< Output Rate 80 Hz, Over Sample Ratio 16 */
#define MAG3110_DROS_4000_32 1 /**< Output Rate 40 Hz, Over Sample Ratio 32 */
#define MAG3110_DROS_2000_64 2 /**< Output Rate 20 Hz, Over Sample Ratio 64 */
#define MAG3110_DROS_1000_128 3 /**< Output Rate 10 Hz, Over Sample Ratio 128 */
#define MAG3110_DROS_4000_16 4 /**< Output Rate 40 Hz, Over Sample Ratio 16 */
#define MAG3110_DROS_2000_32 5 /**< Output Rate 20 Hz, Over Sample Ratio 32 */
#define MAG3110_DROS_1000_64 6 /**< Output Rate 10 Hz, Over Sample Ratio 64 */
#define MAG3110_DROS_0500_128 7 /**< Output Rate 5 Hz, Over Sample Ratio 128 */
#define MAG3110_DROS_2000_16 8 /**< Output Rate 20 Hz, Over Sample Ratio 16 */
#define MAG3110_DROS_1000_32 9 /**< Output Rate 10 Hz, Over Sample Ratio 32 */
#define MAG3110_DROS_0500_64 10 /**< Output Rate 5 Hz, Over Sample Ratio 64 */
#define MAG3110_DROS_0250_128 11 /**< Output Rate 2.5 Hz, Over Sample Ratio 128 */
#define MAG3110_DROS_1000_16 12 /**< Output Rate 10 Hz, Over Sample Ratio 16 */
#define MAG3110_DROS_0500_32 13 /**< Output Rate 5 Hz, Over Sample Ratio 32 */
#define MAG3110_DROS_0250_64 14 /**< Output Rate 2.5 Hz, Over Sample Ratio 64 */
#define MAG3110_DROS_0125_128 15 /**< Output Rate 1.25 Hz, Over Sample Ratio 128 */
#define MAG3110_DROS_0500_16 16 /**< Output Rate 5 Hz, Over Sample Ratio 16 */
#define MAG3110_DROS_0250_32 17 /**< Output Rate 2.5 Hz, Over Sample Ratio 32 */
#define MAG3110_DROS_0125_64 18 /**< Output Rate 1.25 Hz, Over Sample Ratio 64 */
#define MAG3110_DROS_0063_128 19 /**< Output Rate 0.63 Hz, Over Sample Ratio 128 */
#define MAG3110_DROS_0250_16 20 /**< Output Rate 2.5 Hz, Over Sample Ratio 16 */
#define MAG3110_DROS_0125_32 21 /**< Output Rate 1.25 Hz, Over Sample Ratio 32 */
#define MAG3110_DROS_0063_64 22 /**< Output Rate 0.63 Hz, Over Sample Ratio 64 */
#define MAG3110_DROS_0031_128 23 /**< Output Rate 0.31 Hz, Over Sample Ratio 128 */
#define MAG3110_DROS_0125_16 24 /**< Output Rate 1.25 Hz, Over Sample Ratio 16 */
#define MAG3110_DROS_0063_32 25 /**< Output Rate 0.63 Hz, Over Sample Ratio 32 */
#define MAG3110_DROS_0031_64 26 /**< Output Rate 0.31 Hz, Over Sample Ratio 64 */
#define MAG3110_DROS_0016_128 27 /**< Output Rate 0.16 Hz, Over Sample Ratio 128 */
#define MAG3110_DROS_0063_16 28 /**< Output Rate 0.63 Hz, Over Sample Ratio 16 */
#define MAG3110_DROS_0031_32 29 /**< Output Rate 0.31 Hz, Over Sample Ratio 32 */
#define MAG3110_DROS_0016_64 30 /**< Output Rate 0.16 Hz, Over Sample Ratio 64 */
#define MAG3110_DROS_0008_128 31 /**< Output Rate 0.08 Hz, Over Sample Ratio 128 */
#define MAG3110_DROS_DEFAULT MAG3110_DROS_0125_128 /**< Default Setting for testing */
/**
* @brief Device descriptor for MAG3110 magnetometer.
*/
typedef struct {
i2c_t i2c; /**< I2C device, the magnetometer is connected to */
uint8_t addr; /**< the magnetometer's slave address on the I2C bus */
bool initialized; /**< magnetometer status, true if magnetometer is initialized */
} mag3110_t;
/**
* @brief MAG3110 magnetometer test.
* This function looks for Device ID of the MAG3110 magnetometer.
*
* @param[in] dev device descriptor of magnetometer
*
* @return 0 on success
* @return -1 on error
*/
int mag3110_test(mag3110_t *dev);
/**
* @brief Initialise the MAG3110 magnetometer driver.
*
* @param[out] dev device descriptor of magnetometer to initialize
* @param[in] i2c I2C bus the magnetometer is connected to
* @param[in] address magnetometer's I2C slave address
* @param[in] dros data rate and over sampling selection
*
* @return 0 on success
* @return -1 if dros parameter is wrong
* @return -2 if initialization of I2C bus failed
* @return -3 if magnetometer test failed
* @return -4 if magnetometer configuration failed
*/
int mag3110_init(mag3110_t *dev, i2c_t i2c, uint8_t address, uint8_t dros);
/**
* @brief Set user offset correction.
* Offset correction register will be erased after accelerometer reset.
*
* @param[out] dev device descriptor of magnetometer
* @param[in] x offset offset correction value for x-axis
* @param[in] y offset offset correction value for y-axis
* @param[in] z offset offset correction value for z-axis
*
* @return 0 on success
* @return -1 on error
*/
int mag3110_set_user_offset(mag3110_t *dev, int16_t x, int16_t y, int16_t z);
/**
* @brief Set active mode, this enables periodic measurements.
*
* @param[out] dev device descriptor of magnetometer
*
* @return 0 on success
* @return -1 on error
*/
int mag3110_set_active(mag3110_t *dev);
/**
* @brief Set standby mode.
*
* @param[in] dev device descriptor of magnetometer
*
* @return 0 on success
* @return -1 on error
*/
int mag3110_set_standby(mag3110_t *dev);
/**
* @brief Check for new set of measurement data.
*
* @param[in] dev device descriptor of magnetometer
*
* @return >0 if x-, y- and z-axis new sample is ready
* @return 0 if measurement is in progress
* @return -1 on error
*/
int mag3110_is_ready(mag3110_t *dev);
/**
* @brief Read magnetometer's data.
* To get the actual values for the magnetic field in \f$\mu T\f$,
* one have to divide the returned values from the magnetometer by 10.
*
* @param[in] dev device descriptor of magnetometer
* @param[out] x x-axis magnetic field strength
* @param[out] y y-axis magnetic field strength
* @param[out] z z-axis magnetic field strength
* @param[out] status magnetometer status register
*
* @return 0 on success
* @return -1 on error
*/
int mag3110_read(mag3110_t *dev, int16_t *x, int16_t *y, int16_t *z, uint8_t *status);
/**
* @brief Read die temperature.
*
* @param[in] dev device descriptor of magnetometer
* @param[out] dtemp die temperature
*
* @return 0 on success
* @return -1 on error
*/
int mag3110_read_dtemp(mag3110_t *dev, int8_t *dtemp);
#ifdef __cplusplus
}
#endif
#endif
/** @} */

1
drivers/mag3110/Makefile

@ -0,0 +1 @@
include $(RIOTBASE)/Makefile.base

80
drivers/mag3110/include/mag3110_reg.h

@ -0,0 +1,80 @@
/*
* Copyright (C) 2014 PHYTEC Messtechnik GmbH
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*
*/
/**
* @ingroup drivers_mag3110
* @{
*
* @file
* @brief Register definition for the MAG3110 magnetometer driver.
*
* @author Johann Fischer <j.fischer@phytec.de>
*
*/
#ifndef __MAG3110_REG_H__
#define __MAG3110_REG_H__
#ifdef __cplusplus
extern "C"
{
#endif
#define MAG3110_DR_STATUS 0x00 /**< Data ready status per axis */
#define MAG3110_OUT_X_MSB 0x01 /**< Bits [15:8] of X measurement */
#define MAG3110_OUT_X_LSB 0x02 /**< Bits [7:0] of X measurement */
#define MAG3110_OUT_Y_MSB 0x03 /**< Bits [15:8] of Y measurement */
#define MAG3110_OUT_Y_LSB 0x04 /**< Bits [7:0] of Y measurement */
#define MAG3110_OUT_Z_MSB 0x05 /**< Bits [15:8] of Z measurement */
#define MAG3110_OUT_Z_LSB 0x06 /**< Bits [7:0] of Z measurement */
#define MAG3110_WHO_AM_I 0x07 /**< Device Identification Register */
#define MAG3110_SYSMOD 0x08 /**< FIFO Status Register */
#define MAG3110_OFF_X_MSB 0x09 /**< Bits [15:8] of user X offset */
#define MAG3110_OFF_X_LSB 0x0A /**< Bits [7:0] of user X offset */
#define MAG3110_OFF_Y_MSB 0x0B /**< Bits [15:8] of user Y offset */
#define MAG3110_OFF_Y_LSB 0x0C /**< Bits [7:0] of user Y offset */
#define MAG3110_OFF_Z_MSB 0x0D /**< Bits [15:8] of user Z offset */
#define MAG3110_OFF_Z_LSB 0x0E /**< Bits [7:0] of user Z offset */
#define MAG3110_DIE_TEMP 0x0F /**< Temperature, signed 8 bits */
#define MAG3110_CTRL_REG1 0x10 /**< Operation modes */
#define MAG3110_CTRL_REG2 0x11 /**< Operation modes */
#define MAG3110_DR_STATUS_ZYXOW (1 << 7)
#define MAG3110_DR_STATUS_ZOW (1 << 6)
#define MAG3110_DR_STATUS_YOW (1 << 5)
#define MAG3110_DR_STATUS_XOW (1 << 4)
#define MAG3110_DR_STATUS_ZYXDR (1 << 3)
#define MAG3110_DR_STATUS_ZDR (1 << 2)
#define MAG3110_DR_STATUS_YDR (1 << 1)
#define MAG3110_DR_STATUS_XDR (1 << 0)
#define MAG3110_ID 0xC4 /**< Device ID */
#define MAG3110_SYSMOD_STANDBY 0
#define MAG3110_SYSMOD_ACTIVE_RAW 1
#define MAG3110_SYSMOD_ACTIVE 2
#define MAG3110_CTRL_REG1_DROS_SHIFT 3
#define MAG3110_CTRL_REG1_DROS_MASK 0xF8
#define MAG3110_CTRL_REG1_DROS(x) (((uint8_t)(((uint8_t)(x))<<MAG3110_CTRL_REG1_DROS_SHIFT))\
&MAG3110_CTRL_REG1_DROS_MASK)
#define MAG3110_CTRL_REG1_FR (1 << 2)
#define MAG3110_CTRL_REG1_TM (1 << 1)
#define MAG3110_CTRL_REG1_AC (1 << 0)
#define MAG3110_CTRL_REG2_AUTO_MRST_EN (1 << 7)
#define MAG3110_CTRL_REG2_RAW (1 << 5)
#define MAG3110_CTRL_REG2_MAG_RST (1 << 4)
#ifdef __cplusplus
}
#endif
#endif
/** @} */

190
drivers/mag3110/mag3110.c

@ -0,0 +1,190 @@
/*
* Copyright (C) 2014 PHYTEC Messtechnik GmbH
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*
*/
/**
* @ingroup drivers_mag3110
* @{
*
* @file
* @brief Driver for the Freescale MAG3110 magnetometer.
*
* @author Johann Fischer <j.fischer@phytec.de>
*
* @}
*/
#include <stdint.h>
#include <stdbool.h>
#include "periph/i2c.h"
#include "mag3110.h"
#include "mag3110_reg.h"
#define ENABLE_DEBUG (0)
#include "debug.h"
#define I2C_SPEED I2C_SPEED_FAST
int mag3110_test(mag3110_t *dev)
{
char reg;
if (i2c_read_regs(dev->i2c, dev->addr, MAG3110_WHO_AM_I, &reg, 1) != 1) {
return -1;
}
if (reg != MAG3110_ID) {
return -1;
}
return 0;
}
int mag3110_init(mag3110_t *dev, i2c_t i2c, uint8_t address, uint8_t dros)
{
char reg;
/* write device descriptor */
dev->i2c = i2c;
dev->addr = address;
dev->initialized = false;
if (dros > MAG3110_DROS_0008_128) {
return -1;
}
/* initialize the I2C bus */
if (i2c_init_master(i2c, I2C_SPEED) < 0) {
return -2;
}
if (mag3110_test(dev)) {
return -3;
}
/* enable automatic magnetic sensor reset */
reg = MAG3110_CTRL_REG2_AUTO_MRST_EN;
if (i2c_write_regs(dev->i2c, dev->addr, MAG3110_CTRL_REG2, &reg, 1) != 1) {
return -4;
}
reg = MAG3110_CTRL_REG1_DROS(dros);
if (i2c_write_regs(dev->i2c, dev->addr, MAG3110_CTRL_REG1, &reg, 1) != 1) {
return -4;
}
dev->initialized = true;
return 0;
}
int mag3110_set_user_offset(mag3110_t *dev, int16_t x, int16_t y, int16_t z)
{
char buf[6];
buf[0] = (char)(x >> 8);
buf[1] = (char)x;
buf[2] = (char)(y >> 8);
buf[3] = (char)y;
buf[4] = (char)(z >> 8);
buf[5] = (char)z;
if (i2c_write_regs(dev->i2c, dev->addr, MAG3110_OFF_X_MSB, buf, 6) != 6) {
return -1;
}
return 0;
}
int mag3110_set_active(mag3110_t *dev)
{
char reg;
if (dev->initialized == false) {
return -1;
}
if (i2c_read_regs(dev->i2c, dev->addr, MAG3110_CTRL_REG1, &reg, 1) != 1) {
return -1;
}
reg |= MAG3110_CTRL_REG1_AC;
if (i2c_write_regs(dev->i2c, dev->addr, MAG3110_CTRL_REG1, &reg, 1) != 1) {
return -1;
}
return 0;
}
int mag3110_set_standby(mag3110_t *dev)
{
char reg;
if (i2c_read_regs(dev->i2c, dev->addr, MAG3110_CTRL_REG1, &reg, 1) != 1) {
return -1;
}
reg &= ~MAG3110_CTRL_REG1_AC;
if (i2c_write_regs(dev->i2c, dev->addr, MAG3110_CTRL_REG1, &reg, 1) != 1) {
return -1;
}
return 0;
}
int mag3110_is_ready(mag3110_t *dev)
{
char reg;
if (dev->initialized == false) {
return -1;
}
if (i2c_read_regs(dev->i2c, dev->addr, MAG3110_DR_STATUS, &reg, 1) != 1) {
return -1;
}
return (int)(reg & MAG3110_DR_STATUS_ZYXDR);
}
int mag3110_read(mag3110_t *dev, int16_t *x, int16_t *y, int16_t *z, uint8_t *status)
{
char buf[7];
if (dev->initialized == false) {
return -1;
}
if (i2c_read_regs(dev->i2c, dev->addr, MAG3110_DR_STATUS, buf, 7) != 7) {
return -1;
}
*status = buf[0];
*x = ((int16_t)buf[1] << 8) | buf[2];
*y = ((int16_t)buf[3] << 8) | buf[4];
*z = ((int16_t)buf[5] << 8) | buf[6];
return 0;
}
int mag3110_read_dtemp(mag3110_t *dev, int8_t *dtemp)
{
if (dev->initialized == false) {
return -1;
}
if (i2c_read_regs(dev->i2c, dev->addr, MAG3110_DIE_TEMP, (char *)dtemp, 1) != 1) {
return -1;
}
return 0;
}
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